Autopilot drive release based on steering wheel torque systems and methods

Abstract

Techniques are disclosed for systems and methods to disengage an autopilot drive of a mobile structure based on a steering wheel torque applied manually by a user. A system includes a logic device in communication with a torque sensor unit, such as a strain gauge, load pin, or load cell. Sensor data and/or signals provided by the TSU are used to determine a force applied to a steering mechanism of the mobile structure while the mobile structure is on a heading provided by an autopilot drive of the mobile structure. The force may be a torque applied to the steering mechanism corresponding to manual control of the mobile structure. The system disengages the autopilot device of the mobile structure based, at least in part, on the determined force.

What is claimed is: 
     
         1 . A system comprising:
 a logic device configured to receive torque sensor data from a torque sensor unit (TSU) coupled to a steering mechanism for a mobile structure and to disengage an autopilot drive for the mobile structure, wherein the logic device is configured to:
 receive a heading, wind direction, and/or cross track error associated with the autopilot drive for the mobile structure; 
 determine a force applied to one or more components of the steering mechanism for the mobile structure based, at least in part, on the torque sensor data provided by the TSU; and 
 disengage the autopilot drive for the mobile structure based, at least in part, on the determined applied force, wherein the autopilot drive is disengaged to allow manual manipulation of the steering mechanism for the mobile structure. 
   
     
     
         2 . The system of  claim 1 , wherein the logic device is configured to:
 determine the force applied to the one or more components of the steering mechanism based, at least in part, on a torque applied to the one or more components of the steering mechanism during an engagement of the autopilot drive with the mobile structure;   wherein the TSU comprises a direct TSU comprising a strain gauge coupled to and/or integrated with the one or more components of the steering mechanism.   
     
     
         3 . The system of  claim 1 , further comprising:
 an autopilot drive release device configured to receive the torque sensor data and/or corresponding sensor signals provided by the TSU and disengage the autopilot drive from the one or more components of the steering mechanism for the mobile structure and/or the mobile structure, wherein the autopilot drive release device is calibrated for the mobile structure based, at least in part, on one or more load profiles generated through use of the autopilot drive with the mobile structure.   
     
     
         4 . The system of  claim 1 , further comprising an autopilot drive release device comprising a portion of a steering wheel hub for the steering mechanism, wherein:
 the TSU is disposed at least partially within the steering wheel hub; and   the TSU comprises a strain gauge coupled to and/or integrated with the steering mechanism, wherein the force applied to the steering mechanism comprises a torque applied to the steering mechanism and measured or detected via the strain gauge.   
     
     
         5 . The system of  claim 4 , wherein:
 the autopilot drive release device is mounted on a steering shaft of the steering mechanism and the steering wheel hub fixes the autopilot drive release device on the steering shaft.   
     
     
         6 . The system of  claim 4 , wherein the logic device comprises a first logic device and is configured to determine the force applied to the one or more components by:
 receiving the torque sensor data and/or corresponding sensor signals generated by the strain gauge from a second logic device of the autopilot drive release device via a wireless communication channel, wherein the second logic device is configured to measure the torque via the strain gauge and compare the measured torque to a threshold torque level.   
     
     
         7 . The system of  claim 4 , further comprising:
 a power unit for the autopilot drive release device comprising one of a photo voltaic panel in a center of the steering wheel hub or a wired cable connection and slipring; and   a touch sensor integrated with a steering wheel for the mobile structure, wherein the disengaging the autopilot drive for the mobile structure is based, at least in part, on the determined applied force and touch sensor data provided by the touch sensor.   
     
     
         8 . The system of  claim 1 , wherein:
 the TSU comprises an indirect TSU coupled to a rudder arm or a rudder quadrant of the mobile structure; and   the indirect TSU comprises one of a load pin in sheer or a load cell in axial tension and compression with the one of the rudder arm or the rudder quadrant, wherein the torque sensor data provided by the indirect TSU is based, at least in part, on sheer, tension, and/or compression sensor data and/or signals provided by the load pin or load cell.   
     
     
         9 . The system of  claim 8 , wherein the logic device comprises a first logic device and is configured to determine the force applied to the one or more components by:
 receiving the torque sensor data and/or corresponding sensor signals from a second logic device of the TSU, wherein the second logic device characterizes the one or more sensor signals as a manual loading applied to the steering mechanism based on one or more load profiles for the steering mechanism, the autopilot drive, and/or the mobile structure.   
     
     
         10 . The system of  claim 9 , wherein the first logic device is configured to:
 generate the one or more load profiles based, at least in part, on manual loading applied to the steering mechanism and water loading backfed to or through the rudder arm or the rudder quadrant.   
     
     
         11 . A method comprising:
 receiving a heading, wind direction, and/or cross track error associated with an autopilot drive for a mobile structure;   determining a force applied to one or more components of a steering mechanism for the mobile structure based, at least in part, on torque sensor data provided by a torque sensor unity (TSU); and   disengaging the autopilot drive for the mobile structure based, at least in part, on the determined applied force, wherein the autopilot drive is disengaged to allow manual manipulation of the steering mechanism for the mobile structure.   
     
     
         12 . The method of  claim 11 , wherein the determining the one or more sensor signals comprises:
 determining the force applied to the one or more components of the steering mechanism based, at least in part, on a torque applied to the one or more components of the steering mechanism during an engagement of the autopilot drive with the mobile structure;   wherein the TSU comprises a direct TSU comprising a strain gauge coupled to and/or integrated with the one or more components of the steering mechanism.   
     
     
         13 . The method of  claim 11 , further comprising:
 receiving, by an autopilot drive release device, the torque sensor data and/or corresponding sensor signals provided by the TSU, wherein the autopilot drive release device is calibrated for the mobile structure based, at least in part, on one or more load profiles generated through use of the autopilot drive with the mobile structure.   
     
     
         14 . The method of  claim 11 , further comprising receiving, by an autopilot drive release device, the torque sensor data and/or corresponding sensor signals provided by the TSU, wherein:
 the TSU is disposed at least partially within the steering wheel hub; and   the TSU comprises a strain gauge coupled to and/or integrated with the steering mechanism, wherein the force applied to the steering mechanism comprises a torque applied to the steering mechanism and measured or detected via the strain gauge.   
     
     
         15 . The method of  claim 14 , wherein:
 the autopilot drive release device is mounted on a steering shaft of the steering mechanism and the steering wheel hub fixes the autopilot drive release device on the steering shaft.   
     
     
         16 . The method of  claim 14 , wherein the determining the force applied to the one or more components comprises:
 receiving the torque sensor data and/or corresponding sensor signals generated by the strain gauge from a second logic device of the autopilot drive release device via a wireless communication channel, wherein the second logic device is configured to measure the torque via the strain gauge and compare the measured torque to a threshold torque level.   
     
     
         17 . The method of  claim 14 , wherein:
 the autopilot drive release device comprises a power unit including one of a photo voltaic panel in a center of the steering wheel hub or a wired cable connection and slipring.   
     
     
         18 . The method of  claim 13 , wherein:
 the TSU comprises an indirect TSU coupled to a rudder arm or a rudder quadrant of the mobile structure; and   the indirect TSU comprises one of a load pin in sheer or a load cell in axial tension and compression with the one of the rudder arm or the rudder quadrant, wherein the torque sensor data provided by the indirect TSU is based, at least in part, on sheer, tension, and/or compression sensor data and/or signals provided by the load pin or load cell.   
     
     
         19 . The method of  claim 18 , wherein the determining the force applied to the one or more components comprises:
 receiving the torque sensor data and/or corresponding sensor signals from a second logic device of the TSU, wherein the second logic device characterizes the one or more sensor signals as a manual loading applied to the steering mechanism based on one or more load profiles for the steering mechanism, the autopilot drive, and/or the mobile structure.   
     
     
         20 . The method of  claim 19 , further comprising:
 generating the one or more load profiles based, at least in part, on manual loading applied to the steering mechanism and water loading backfed to or through the rudder arm or the rudder quadrant.